[1]李泰国,李文新,王伟文,等.基于 OpenGL 空间机械臂三维重构可视化研究[J].计算机技术与发展,2018,28(01):178-181.[doi:10.3969/ j. issn.1673-629X.2018.01.038]
　LI Tai-guo,LI Wen-xin,WANG Wei-wen,et al.Research on Visual 3D Reconstruction of Space Manipulator Based on OpenGL[J].Computer Technology and Development,2018,28(01):178-181.[doi:10.3969/ j. issn.1673-629X.2018.01.038]
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基于 OpenGL 空间机械臂三维重构可视化研究()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
28
期数:
2018年01期
页码:
178-181
栏目:
应用开发研究
出版日期:
2018-01-10

文章信息/Info

Title:
Research on Visual 3D Reconstruction of Space Manipulator Based on OpenGL
文章编号:
1673-629X(2018)01-0178-04
作者:
李泰国; 李文新; 王伟文; 高家祺
兰州空间技术物理研究所,甘肃 兰州 730000
Author(s):
LI Tai-guo; LI Wen-xin; WANG Wei-wen; GAO Jia-qi
Lanzhou Institute of Physics,Lanzhou 730000,China
关键词:
空间机械臂; 三维模型; 3DS; OpenGL; 可视化系统
Keywords:
space manipulator; 3D model; 3DS; OpenGL; visual system
分类号:
V11
DOI:
10.3969/ j. issn.1673-629X.2018.01.038
文献标志码:
A
摘要:
机器臂存在结构复杂、真实设备成本昂贵、实验条件受限等问题。 在机械臂的设计研究中,可视化仿真系统作为一种安全灵活的工具,发挥着非常重要的作用,并广泛应用于机械臂设计和开发的各阶段。利用专业建模软件 3D Studio MAX 建立机械臂三维模型及场景,然后转换为 OpenGL 可以识别的 3DS 模型数据格式。 在 Visual C++开发环境中完成3DS 模型数据的读取,结合 OpenGL 进行机械臂三维模型的重绘。 根据机械臂 D-H 参数完成的机械臂正逆运动学求解算法,可以嵌入基于 OpenGL 的空间机械臂三维仿真系统中完成机械臂的运动控制和路径规划。 实验结果表明,在 Windows环境下以 Visual C++结合 OpenGL 技术进行机械臂三维重构可视化研究,便于嵌入用户控制算法,可为机械臂的运动控制和路径规划研究提供依据。
Abstract:
There are some problmes in the space manipulator like complex structure,expensive devices and the limitation of experimental conditions. In the design and research of manipulator,visual simulation system,as a safe and flexible tool,plays a very important role and is widely used in each stage of the design and development of the manipulator.3D Studio MAX,a professional modeling software,is for establishment of three-dimensional model and scene of the manipulator,and then converted into 3DS data format which OpenGL can identify. In Visual C++ development environment,the 3DS model data is read and combined with OpenGL three-dimensional model of manipulator is redrawed. According to the forward and inverse kinematics of the manipulator algorithm completed by the manipulator D-H parameters,it can be embedded in the three-dimensional simulation system based on OpenGL space manipulator to complete the manipulator motion control and path planning. The experiment shows that under the Windows using Visual C++ and OpenGL for research on visualization of 3D reconstruction for manipulator,it is convenient to embed user control algorithm,which can provide the basis for research on manipulator motion control and path planning.

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更新日期/Last Update: 2018-03-13